JPH0453676B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to industrial robots, and particularly to a modular robot constructed by connecting a plurality of various joint modules.

Conventional configuration and its problems As shown in a specific example in FIG. 1, a conventional module type robot has a keyway 3 formed in advance by cutting on the connecting surface of the joint module 1 and the arm module 2. It was positioned with a key 4 and fixed with a bolt 5.

This positioning method has a high positioning accuracy,
Although this method is very effective in terms of compatibility, it has the drawback of high processing costs.

Another example, as shown in FIG. 2, is a method in which, after the connection is completed, a hole is drilled in post-processing and a dowel pin 6 is driven for positioning.

In this case, although the machining accuracy may be rough, it requires an open space large enough to drill holes with a drill etc. after connection, and has the disadvantage that compatibility with other units cannot be obtained.

As a way to solve such problems,
There is an example as described in Publication No. 59009, but since it requires welding after connection, it has the disadvantage of causing thermal deformation, etc., which makes it difficult to adopt it for robots etc. where accuracy is important. .

Purpose of the Invention In view of the above-mentioned drawbacks, the present invention provides a modular robot in which each element can be positioned and connected at low cost and with high accuracy, and in addition, compatibility can be obtained. .

Structure of the Invention The present invention is a modular robot constructed by suitably combining a plurality of modular elements including joint modules that perform movements such as rotation or sliding, and arm modules that connect these joint modules. One or more recesses are provided on the connection surface of one of the module elements, and similarly, one or more recesses are provided on the connection surface of the other module element at positions corresponding to the recesses provided on the one module element. are provided with recesses of the same shape, and when the connecting surface of the one module element and the connecting surface of the other module element are connected so that the recesses match, the recesses fit into each recess without a gap. Since the matching positioning members are used to position the modular elements when they are connected, this has the unique effect of enabling accurate positioning at low cost and ensuring compatibility.

Furthermore, by using a material that can easily be plastically deformed at the location where the connecting surface concave portion is formed, the effect becomes more pronounced.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 3 shows the overall configuration of the modular robot in this embodiment.

A joint module 13 driven by a motor, a speed reducer (none of which is shown), etc. is fixed to a swivel table 12 which is placed on a base 11 and is rotatable around a vertical axis A. This joint module 13
An arm module 14 is connected and fixed with a bolt 15, and the joint module and arm module are similarly connected in series to form a module type robot.

A recess 16a is formed in advance at a predetermined position on the connecting surface 13a of the joint module 13.
On the other hand, a recess 16b is also formed in advance at a predetermined position on the connecting surface 14a of the arm module 14. Positioning members 17 (steel balls in the drawing) fit into these recesses 16a and 16b.
is inserted and positioning is performed.

On the other hand, the recesses 16a and 16b are formed as follows. As shown in FIG. 4, the press 19 on which the reference positioning member 18 is installed is equipped with a stand 20 on which the arm module 14 and the joint module 13 are fixed. Then, the arm module 14 or the joint module 13 is fixed on the stand 20, and the press machine 19 is operated to press the recesses 16a, 16.
b.

At this time, since the convex part 18a of the reference positioning member 18 has the same size and approximately half the shape of the positioning member 17, when the arm module 14 and the joint module 13 are connected, each concave part 16
a and 16b are overlapped and the positioning member 17 is tightly fitted.

Note that by pressing the reference positioning member 18, the recess 1
6a, 16b, recesses 16a, 16
In order to solve problems such as the bulging around b, it is sufficient to roughly drill pilot holes 21 in advance on the connecting surfaces 13a and 14a. Furthermore, in the case of a material that is difficult to plastically deform, a recess forming member 22 made of a material that is easily plastically deformable may be embedded in the connecting surfaces 13a, 14a.

In this embodiment, an articulated robot was explained, but the same applies to robots of other shapes such as orthogonal and cylindrical.Although the connection of modules was explained, Needless to say, it is also applicable.

Effects of the Invention As described above, the present invention enables inexpensive and accurate positioning by forming a recess with a reference positioning member on the connection surface of each module, and inserting and fixing a positioning member that fits into the recess into the recess. This has the remarkable effect of making it possible to perform the following tasks, and also to obtain compatibility between modules.

[Brief explanation of the drawing]

1 and 2 are partial views showing a conventional positioning and connection method, FIG. 3a is an overall view of a modular robot according to an embodiment of the present invention, and FIG. 3b is a partial view showing a positioning configuration according to an embodiment of the present invention. A cross-sectional view, FIG. 4 is a diagram showing a positioning recess processing method, and FIGS. 5 a, b, c, and d are enlarged views showing the state before and after the recess is formed. 13... Joint module, 14... Arm module, 16... Positioning recess, 17... Positioning member, 22... Recess forming member.

Claims (1)

[Scope of Claims] 1. A modular robot constructed by suitably combining a plurality of modular elements including a joint module that performs movements such as rotation or sliding, and an arm module that connects these joint modules, which are connected to each other. One or more recesses are provided on the connecting surface of one of the modular elements, and similarly, one or more recesses are provided on the connecting surface of the other modular element.
A recess of the same shape is provided at a position corresponding to the recess provided in the one module element, and each recess is arranged so that the connection surface of the one module element and the connection surface of the other module element coincide with each other. 1. A modular robot characterized in that when connected, positioning of the connection of modular elements is performed by a positioning member that fits into each recess without a gap. 2. The modular robot according to claim 1, wherein a material that is easily plastically deformed is embedded in the concave portions of the connecting surfaces of each module. 3. A patent claim characterized in that each concave portion provided on each connecting surface is formed by pressing the convex portion with a reference positioning member having the same dimensions as the positioning member and approximately half the shape. A modular robot according to item 1.